ArmorPy - Easy Ontology managament in ROS¶
ArmorPy is a client library for ARMOR - A ROS Multi Ontology Reference
ARMOR is a service that can manage multiple ontologies in ROS, allowing you to query and manipulate ontologies from one or more clients. In this way you can keep all your semantic knowledge in a single location without giving up flexibility. Also, you can work with ontologies in any language supported by ROS.
ArmorPy helps you quickly develop python clients for ARMOR:
- No need to call ARMOR and manually fill the lengthy messages
- Monitors ARMOR service state and calls’ responses for steady fault recovery
- Useful macros
To use the library, simply initialize a client with a ID and a reference to work with:
client = ArmorClient(client_id, reference_name)
Commands are sorted by their purpose (manipulation, query, utility).
You can call the service functions in the following way:
client.manipulation.some_manipulation_command(args)
client.query.some_query_command(args)
client.utils.some_utils_command(args)
That’s it!
ArmorPy currently supports only a fraction of ARMOR functions, but coverage will improve over time. If you are interested, please feel free to contribute to the project!